ME179D Robotics

I took ME179D Robotics in fall 2020. The class taught Jacobian matrix, Lagrangian formulation, linear/non-linear system modelling, and control theories. Due to COVID-19 and limited access to labs, we conducted series of simulations on MATLAB. 

RPLidar LabView-Arduino Test

​This lidar was a component from the ASME mecanum wheel car project. Each dot shown on LabView is a laser reflection of the surrounding object. However, it was quite noisy.

Semi-Auto Power-Saving Pinch Valve

A small device that designed to block the flow upon receiving a signal from the medical device. ​

ODrive BLDC Test Stand

Testing brushless DC motors and their control methods using Odrive. Potential usage can be fast actuating CNC machine.

Project: Type 00 Delta Robot
[Goleta, July 2019]

As a part of robot family, parallel robot manipulator, commonly known as delta robot, uses free-rotating linkage system driven by motors to control the position of a single platform. Comparing to the conventional robotic arm, delta robot is faster, durable, and more efficient. It can achieve great accuracy in relatively 2D movement if using camera and vision technology, thus it is widely used in packaging, sorting, and transporting on the production line. This project explored the basic kinematics, control interface, visual analysis with camera, and possible industrial usage of the delta robot system. ​

Robotic Arm Mk5

Industrial robotic arms have been used for many purposes today. The most important part in robotic arm is its end effector's accuracy, which is related to the robot's kinematics and path planning. With 5 degrees of freedom, MK5 was designed along with its control system to provide a convenient platform for future robotics research. A serial communication was programmed so users now can send data from Matlab to Arduino. ​In progress...

Research: Self-Balancing Car
[Manzanita Rincon Hall, Apr 2019]

 Video Link
This is an inverted pendulum problem. I designed and 3D printed a simple two-wheel car with two stepper motors. The angle was measured by a MPU-6050 IMU, and the microcontroller was a normal Arduino Uno. I tried a single set of PID and also implemented interrupt function in Arduino to control the stepper motor's speed. However, since the function of the motor speed and delay time between steps has a non-linear phenomenon, I had to figure out a transfer function to make it linear (since PID only works for linear relationship). I will also try DC brushed motor and control its PWM by PID, which may be easier. 

Project: Auto-tune PID LabVIEW Program
Xinghao Huang, Ben Bales
[UCSB, ME 147, March 2019]

In the final project of ME 147 Mechatronics, I made an auto-tune PID program in LabVIEW. Details are in the PDF below.
auto-tune_pid_controller_report.pdf
File Size: 695 kb
File Type: pdf
Download File

Project: Dual Syringe Pump for Silicone 3D Printer 
Xinghao Huang, Haolin He, Jefferson Cam
[UCSB, ASME Club, Jan 2019]

During the Silicone 3D Project held by ASME club, we designed this dual syringe pump to pump the silicone material for the 3D printer. Driven by a NEMA 17 stepper motor and lead screw, the syringe plungers push liquid silicone into the mixer and eventually form 3D objects on the platform. 

Project: 3D Printed Robotic Arm and Gripper
[Lake Forest, Dec 2018]

Inspired by Enerik Kapllanaj’s robotic arm on GrabCAD, I designed and built my first 3D printed robotic arm with a gripper that can grab a 50 x 50 cm cube. 

The Mark 1 version I built so far still has a lot problems: miss-aligned servo arms, insufficient torque, messy wires. There are many solutions but take time to solve each problem. I hope my design will get better after taking ME 147 Mechatronics with LabView. 

Assmebly: Prusa I3 MK3 3D Printer 
[Lake Forest, Dec 2018]

Bought and assembled my Prusa i3 MK3 3D printer. Took me three days to finish and calibrate prints. 

Research: Syringe Pump by Lead Screw Actuator  
[RE Touch Lab, UCSB, Dec 2018]

Currently designing a portable medical device that uses a mini lead screw actuator to provide over 150 psi hydraulic pressure for the lab’s researching flexible actuator. 

Final version video
Syring_Pump_mcode_lv_85.rar
File Size: 205 kb
File Type: rar
Download File
actuator_design_1_nov_28.pdf
File Size: 205 kb
File Type: pdf
Download File

Project: 3D Printed Natcar Mouse Sensor Holder 
​[IEEE Club, UCSB, Nov 2018]

The NATCAR Team in IEEE Club had an issue with their mouse sensor. The electrical team had to adjust the height between the sensor and ground every time in order to get the optimal sensitivity. Thus, I made a small 3D printed adapter with two springs and two couplings. When turning the couplings, they will shorten the height between the PCB and adapter, thus adjusting the height from the ground. 

Project: Balsawood Bridge by Xinghao Huang and Jeff Cam [ME 14 Statics, UCSB, Nov 2018]

The second midterm of ME 14 statics was the bridge competition, in which two people formed a team to build a bridge that was 40 cm long, 10 cm wide, and 21 cm tall (maximum). The bridge also had a 25 cm gap between the legs and 10 cm clearance.  

Project: Tank Barrel Aimbot [In Progress]

The barrel stabilizer on the 1/35 M1A2 RC tank. Currently able to stabilize the y- axis. Components used include: Arduino Adafruit Metro Mini, MPU-6050, 9g servo, gears and 3D printed supports. Below is my current code. I am still working on how to make less noise by applying better low pass filter or more precise servo. 
m1a2_version_4.ino
File Size: 6 kb
File Type: ino
Download File

RESEARCH: Fluid Control System for the Hydraulic Actuated Textile
[RE Touch Lab, Eureka Intern, June - August 2018]

The fluid control system in this specially designed fluid control box can provide a precise and stable water pressure for one or multiple hydraulic actuated textiles and accurately achieve motion control in a short time. 
xinghaohuang_eureka_finalposter.pdf
File Size: 1588 kb
File Type: pdf
Download File
eureka_final_presention__hydraulic_control_system.pdf
File Size: 1930 kb
File Type: pdf
Download File
fluid_control_box_multiple_actuators_and_menu.ino
File Size: 20 kb
File Type: ino
Download File

Hydraulic Actuator Test
[RE Touch Lab, Eureka Intern, Summer 2018]

In the summer of 2018, I worked in RE Touch Lab as a team member to do research on hydraulic compression garment. The actuator shown in the video was the hydraulic pump we used to replace the syringe we had once used to pump liquid. The whole actuator consisted of a brush-less motor pump, an oil tank, and a multistage pump. 

The brushless motor pump was initially controlled by an Arduino Mega board. I installed a potentiometer to control the voltage and mapped the voltage change into servo signal, which worked in the same way as the brushless motor. 

PROJECT: Auto-Writer
[RE Touch Lab, Spring 2018]

This "auto-writer" was one of my assignments before I became a member in RE Touch Lab. Most of the hardware and programs were given, but I still needed to design and 3D-print all joints and pulleys in order to make it functional.  Eventually, I built the stand and board by gluing a few acrylic plates together.

PROJECT: Dabbing Black Panther
[ME10, Spring 2018]

This robot was the final project built in ME10 class. Required by the class, 4 students in a team should make a robot designed by kids in IV elementary school.  My team's robot was made of 3mm acrylic plate and controlled by Arduino Uno. With 3 servos, the robot had 3 degrees of freedom that allowed to dab and shake head.

PROJECT: Arduino MPU6050 Gyroscope RC cart
[ECE 5, Winter 2018] 

I helped my friends in electrical engineering build their ECE 5's final project-- a cart that was controlled by a mpu6050 gyroscope on the hand back, connected by two RF24 Bluetooth modules.  

PROJECT: RC Battleship Yamato
[Self-Project, Fall 2017]

Project: RC Model Tanks Series
[Self-Project, 2016 - 2018]